/*
 * Copyright (c) 2011-2019, The DART development contributors
 * All rights reserved.
 *
 * The list of contributors can be found at:
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 *   without modification, are permitted provided that the following
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 *     notice, this list of conditions and the following disclaimer.
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 */

#ifndef EXAMPLES_ATLASSIMBICON_TERMINALCONDITION_HPP_
#define EXAMPLES_ATLASSIMBICON_TERMINALCONDITION_HPP_

#include <string>
#include <vector>

#include <Eigen/Dense>

#include <dart/dart.hpp>

class State;

//==============================================================================
/// \brief class TerminalCondition
class TerminalCondition
{
public:
  /// \brief Constructor
  TerminalCondition(State* _state);

  /// \brief Destructor
  virtual ~TerminalCondition();

  /// \brief Check if this condition is satisfied or not.
  virtual bool isSatisfied() = 0;

protected:
  /// \brief State
  State* mState;
};

//==============================================================================
/// \brief class TimerCondition
class TimerCondition : public TerminalCondition
{
public:
  /// \brief Constructor
  TimerCondition(State* _state, double _duration);

  /// \brief Destructor
  virtual ~TimerCondition();

  // Documentation inherited.
  bool isSatisfied() override;

protected:
  /// \brief Duration
  double mDuration;
};

//==============================================================================
/// \brief class BodyContactCondition
class BodyContactCondition : public TerminalCondition
{
public:
  /// \brief Constructor
  BodyContactCondition(State* _state, dart::dynamics::BodyNode* _body);

  /// \brief Destructor
  virtual ~BodyContactCondition();

  // Documentation inherited.
  bool isSatisfied() override;

protected:
  /// \brief Body node to be tested
  dart::dynamics::BodyNode* mBodyNode;
};

#endif // EXAMPLES_ATLASSIMBICON_TERMINALCONDITION_HPP_
